The design of the DIEGO enables it to offer the versatility and rapid setup of an end-effector device,with the added benefit of direct application to functional activities. This unique capability underscores a new approach in robotic therapy–integrating robotic support with actual task practice in context. The Armeo Boom(Hocoma)issimilarinsomeregards,althoughit relies purely on mechanical support of the upper limb, rather than robotic controls.